presets.cpp
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1 // License: Apache 2.0. See LICENSE file in root directory.
2 // Copyright(c) 2017 Intel Corporation. All Rights Reserved.
3 
4 #include "presets.h"
5 
6 namespace librealsense
7 {
8  void default_400(preset& p)
9  {
10  p.depth_controls.deepSeaMedianThreshold = 500;
11  p.depth_controls.deepSeaNeighborThreshold = 7;
12  p.depth_controls.deepSeaSecondPeakThreshold = 325;
13  p.depth_controls.lrAgreeThreshold = 24;
14  p.depth_controls.minusDecrement = 10;
15  p.depth_controls.plusIncrement = 10;
16  p.depth_controls.scoreThreshA = 1;
17  p.depth_controls.scoreThreshB = 2047;
18  p.depth_controls.textureCountThreshold = 0;
19  p.depth_controls.textureDifferenceThreshold = 0;
20  p.rsm.diffThresh = 4.f;
21  p.rsm.removeThresh = 63;
22  p.rsm.rsmBypass = 0;
23  p.rsm.sloRauDiffThresh = 1.f;
24  p.rsvc.minEast = 1;
25  p.rsvc.minNorth = 1;
26  p.rsvc.minNSsum = 3;
27  p.rsvc.minSouth = 1;
28  p.rsvc.minWest = 1;
29  p.rsvc.minWEsum = 3;
30  p.rsvc.uShrink = 3;
31  p.rsvc.vShrink = 1;
32  p.color_control.disableRAUColor = 0;
33  p.color_control.disableSADColor = 0;
34  p.color_control.disableSADNormalize = 0;
35  p.color_control.disableSLOLeftColor = 0;
36  p.color_control.disableSLORightColor = 0;
37  p.rctc.rauDiffThresholdBlue = 51;
38  p.rctc.rauDiffThresholdGreen = 51;
39  p.rctc.rauDiffThresholdRed = 51;
40  p.sctc.diffThresholdBlue = 72;
41  p.sctc.diffThresholdGreen = 72;
42  p.sctc.diffThresholdRed = 72;
43  p.spc.sloK1Penalty = 60;
44  p.spc.sloK1PenaltyMod1 = 105;
45  p.spc.sloK1PenaltyMod2 = 70;
46  p.spc.sloK2Penalty = 342;
47  p.spc.sloK2PenaltyMod1 = 190;
48  p.spc.sloK2PenaltyMod2 = 130;
49  p.hdad.lambdaAD = 800.f;
50  p.hdad.lambdaCensus = 26.f;
51  p.cc.colorCorrection1 = 0.4620000123978f;
52  p.cc.colorCorrection2 = 0.5400000214577f;
53  p.cc.colorCorrection3 = 0.5400000214577f;
54  p.cc.colorCorrection4 = 0.2080000042915f;
55  p.cc.colorCorrection5 = -0.3319999873638f;
56  p.cc.colorCorrection6 = -0.2129999995232f;
57  p.cc.colorCorrection7 = -0.2129999995232f;
58  p.cc.colorCorrection8 = 0.6850000023842f;
59  p.cc.colorCorrection9 = 0.930999994278f;
60  p.cc.colorCorrection10 = -0.5540000200272f;
61  p.cc.colorCorrection11 = -0.5540000200272f;
62  p.cc.colorCorrection12 = 0.04600000008941f;
63  p.depth_table.depthClampMax = 65536;
64  p.depth_table.depthClampMin = 0;
65  p.depth_table.depthUnits = 1000;
66  p.depth_table.disparityShift = 0;
67  p.ae.meanIntensitySetPoint = 400;
68  p.census.uDiameter = 9;
69  p.census.vDiameter = 9;
70  p.depth_exposure.exposure = 33000.f;
71  p.depth_auto_exposure.auto_exposure = 1;
72  p.depth_gain.gain = 16.f;
73  }
74 
75 
76  void default_405(preset& p)
77  {
78  p.depth_controls.deepSeaMedianThreshold = 500;
79  p.depth_controls.deepSeaNeighborThreshold = 7;
80  p.depth_controls.deepSeaSecondPeakThreshold = 325;
81  p.depth_controls.lrAgreeThreshold = 24;
82  p.depth_controls.minusDecrement = 10;
83  p.depth_controls.plusIncrement = 10;
84  p.depth_controls.scoreThreshA = 1;
85  p.depth_controls.scoreThreshB = 2047;
86  p.depth_controls.textureCountThreshold = 0;
87  p.depth_controls.textureDifferenceThreshold = 0;
88  p.rsm.diffThresh = 4.f;
89  p.rsm.removeThresh = 63;
90  p.rsm.rsmBypass = 0;
91  p.rsm.sloRauDiffThresh = 1.f;
92  p.rsvc.minEast = 1;
93  p.rsvc.minNorth = 1;
94  p.rsvc.minNSsum = 3;
95  p.rsvc.minSouth = 1;
96  p.rsvc.minWest = 1;
97  p.rsvc.minWEsum = 3;
98  p.rsvc.uShrink = 3;
99  p.rsvc.vShrink = 1;
100  p.color_control.disableRAUColor = 0;
101  p.color_control.disableSADColor = 0;
102  p.color_control.disableSADNormalize = 0;
103  p.color_control.disableSLOLeftColor = 0;
104  p.color_control.disableSLORightColor = 0;
105  p.rctc.rauDiffThresholdBlue = 51;
106  p.rctc.rauDiffThresholdGreen = 51;
107  p.rctc.rauDiffThresholdRed = 51;
108  p.sctc.diffThresholdBlue = 72;
109  p.sctc.diffThresholdGreen = 72;
110  p.sctc.diffThresholdRed = 72;
111  p.spc.sloK1Penalty = 60;
112  p.spc.sloK1PenaltyMod1 = 105;
113  p.spc.sloK1PenaltyMod2 = 70;
114  p.spc.sloK2Penalty = 342;
115  p.spc.sloK2PenaltyMod1 = 190;
116  p.spc.sloK2PenaltyMod2 = 130;
117  p.hdad.lambdaAD = 800.f;
118  p.hdad.lambdaCensus = 26.f;
119  p.cc.colorCorrection1 = 0.4620000123978f;
120  p.cc.colorCorrection2 = 0.5400000214577f;
121  p.cc.colorCorrection3 = 0.5400000214577f;
122  p.cc.colorCorrection4 = 0.2080000042915f;
123  p.cc.colorCorrection5 = -0.3319999873638f;
124  p.cc.colorCorrection6 = -0.2129999995232f;
125  p.cc.colorCorrection7 = -0.2129999995232f;
126  p.cc.colorCorrection8 = 0.6850000023842f;
127  p.cc.colorCorrection9 = 0.930999994278f;
128  p.cc.colorCorrection10 = -0.5540000200272f;
129  p.cc.colorCorrection11 = -0.5540000200272f;
130  p.cc.colorCorrection12 = 0.04600000008941f;
131  p.depth_table.depthClampMax = 65536;
132  p.depth_table.depthClampMin = 0;
133  p.depth_table.depthUnits = 1000;
134  p.depth_table.disparityShift = 0;
135  p.ae.meanIntensitySetPoint = 400;
136  p.census.uDiameter = 9;
137  p.census.vDiameter = 9;
138  p.laser_state.laser_state = 1;
139  p.laser_power.laser_power = 150.f;
140  p.depth_exposure.exposure = 33000.f;
141  p.depth_auto_exposure.auto_exposure = 1;
142  p.depth_gain.gain = 16.f;
143  }
144 
145 
146  void default_410(preset& p)
147  {
148  p.depth_controls.deepSeaMedianThreshold = 500;
149  p.depth_controls.deepSeaNeighborThreshold = 7;
150  p.depth_controls.deepSeaSecondPeakThreshold = 325;
151  p.depth_controls.lrAgreeThreshold = 24;
152  p.depth_controls.minusDecrement = 10;
153  p.depth_controls.plusIncrement = 10;
154  p.depth_controls.scoreThreshA = 1;
155  p.depth_controls.scoreThreshB = 2047;
156  p.depth_controls.textureCountThreshold = 0;
157  p.depth_controls.textureDifferenceThreshold = 0;
158  p.rsm.diffThresh = 4.f;
159  p.rsm.removeThresh = 63;
160  p.rsm.rsmBypass = 0;
161  p.rsm.sloRauDiffThresh = 1.f;
162  p.rsvc.minEast = 1;
163  p.rsvc.minNorth = 1;
164  p.rsvc.minNSsum = 3;
165  p.rsvc.minSouth = 1;
166  p.rsvc.minWest = 1;
167  p.rsvc.minWEsum = 3;
168  p.rsvc.uShrink = 3;
169  p.rsvc.vShrink = 1;
170  p.color_control.disableRAUColor = 0;
171  p.color_control.disableSADColor = 0;
172  p.color_control.disableSADNormalize = 0;
173  p.color_control.disableSLOLeftColor = 0;
174  p.color_control.disableSLORightColor = 0;
175  p.rctc.rauDiffThresholdBlue = 51;
176  p.rctc.rauDiffThresholdGreen = 51;
177  p.rctc.rauDiffThresholdRed = 51;
178  p.sctc.diffThresholdBlue = 72;
179  p.sctc.diffThresholdGreen = 72;
180  p.sctc.diffThresholdRed = 72;
181  p.spc.sloK1Penalty = 60;
182  p.spc.sloK1PenaltyMod1 = 105;
183  p.spc.sloK1PenaltyMod2 = 70;
184  p.spc.sloK2Penalty = 342;
185  p.spc.sloK2PenaltyMod1 = 190;
186  p.spc.sloK2PenaltyMod2 = 130;
187  p.hdad.lambdaAD = 800.f;
188  p.hdad.lambdaCensus = 26.f;
189  p.cc.colorCorrection1 = 0.4620000123978f;
190  p.cc.colorCorrection2 = 0.5400000214577f;
191  p.cc.colorCorrection3 = 0.5400000214577f;
192  p.cc.colorCorrection4 = 0.2080000042915f;
193  p.cc.colorCorrection5 = -0.3319999873638f;
194  p.cc.colorCorrection6 = -0.2129999995232f;
195  p.cc.colorCorrection7 = -0.2129999995232f;
196  p.cc.colorCorrection8 = 0.6850000023842f;
197  p.cc.colorCorrection9 = 0.930999994278f;
198  p.cc.colorCorrection10 = -0.5540000200272f;
199  p.cc.colorCorrection11 = -0.5540000200272f;
200  p.cc.colorCorrection12 = 0.04600000008941f;
201  p.depth_table.depthClampMax = 65536;
202  p.depth_table.depthClampMin = 0;
203  p.depth_table.depthUnits = 1000;
204  p.depth_table.disparityShift = 0;
205  p.ae.meanIntensitySetPoint = 400;
206  p.census.uDiameter = 9;
207  p.census.vDiameter = 9;
208  p.laser_state.laser_state = 1;
209  p.laser_power.laser_power = 150.f;
210  p.depth_exposure.exposure = 33000.f;
211  p.depth_auto_exposure.auto_exposure = 1;
212  p.depth_gain.gain = 16.f;
213  }
214 
215 
216  void default_420(preset& p)
217  {
218  p.depth_controls.deepSeaMedianThreshold = 500;
219  p.depth_controls.deepSeaNeighborThreshold = 7;
220  p.depth_controls.deepSeaSecondPeakThreshold = 325;
221  p.depth_controls.lrAgreeThreshold = 24;
222  p.depth_controls.minusDecrement = 10;
223  p.depth_controls.plusIncrement = 10;
224  p.depth_controls.scoreThreshA = 1;
225  p.depth_controls.scoreThreshB = 2047;
226  p.depth_controls.textureCountThreshold = 0;
227  p.depth_controls.textureDifferenceThreshold = 0;
228  p.rsm.diffThresh = 4.f;
229  p.rsm.removeThresh = 63;
230  p.rsm.rsmBypass = 0;
231  p.rsm.sloRauDiffThresh = 1.f;
232  p.rsvc.minEast = 1;
233  p.rsvc.minNorth = 1;
234  p.rsvc.minNSsum = 3;
235  p.rsvc.minSouth = 1;
236  p.rsvc.minWest = 1;
237  p.rsvc.minWEsum = 3;
238  p.rsvc.uShrink = 3;
239  p.rsvc.vShrink = 1;
240  p.color_control.disableRAUColor = 0;
241  p.color_control.disableSADColor = 0;
242  p.color_control.disableSADNormalize = 0;
243  p.color_control.disableSLOLeftColor = 0;
244  p.color_control.disableSLORightColor = 0;
245  p.rctc.rauDiffThresholdBlue = 51;
246  p.rctc.rauDiffThresholdGreen = 51;
247  p.rctc.rauDiffThresholdRed = 51;
248  p.sctc.diffThresholdBlue = 72;
249  p.sctc.diffThresholdGreen = 72;
250  p.sctc.diffThresholdRed = 72;
251  p.spc.sloK1Penalty = 60;
252  p.spc.sloK1PenaltyMod1 = 105;
253  p.spc.sloK1PenaltyMod2 = 70;
254  p.spc.sloK2Penalty = 342;
255  p.spc.sloK2PenaltyMod1 = 190;
256  p.spc.sloK2PenaltyMod2 = 130;
257  p.hdad.lambdaAD = 800.f;
258  p.hdad.lambdaCensus = 26.f;
259  p.cc.colorCorrection1 = 0.2989999949932f;
260  p.cc.colorCorrection2 = 0.2939999997616f;
261  p.cc.colorCorrection3 = 0.2939999997616f;
262  p.cc.colorCorrection4 = 0.1140000000596f;
263  p.cc.colorCorrection5 = 0.f;
264  p.cc.colorCorrection6 = 0.f;
265  p.cc.colorCorrection7 = 0.f;
266  p.cc.colorCorrection8 = 0.f;
267  p.cc.colorCorrection9 = 0.f;
268  p.cc.colorCorrection10 = 0.f;
269  p.cc.colorCorrection11 = 0.f;
270  p.cc.colorCorrection12 = 0.f;
271  p.depth_table.depthClampMax = 65536;
272  p.depth_table.depthClampMin = 0;
273  p.depth_table.depthUnits = 1000;
274  p.depth_table.disparityShift = 0;
275  p.ae.meanIntensitySetPoint = 1536;
276  p.census.uDiameter = 9;
277  p.census.vDiameter = 9;
278  p.depth_exposure.exposure = 8500.f;
279  p.depth_auto_exposure.auto_exposure = 1;
280  p.depth_gain.gain = 16.f;
281  }
282 
283 
284  void default_430(preset& p)
285  {
286  p.depth_controls.deepSeaMedianThreshold = 500;
287  p.depth_controls.deepSeaNeighborThreshold = 7;
288  p.depth_controls.deepSeaSecondPeakThreshold = 325;
289  p.depth_controls.lrAgreeThreshold = 24;
290  p.depth_controls.minusDecrement = 10;
291  p.depth_controls.plusIncrement = 10;
292  p.depth_controls.scoreThreshA = 1;
293  p.depth_controls.scoreThreshB = 2047;
294  p.depth_controls.textureCountThreshold = 0;
295  p.depth_controls.textureDifferenceThreshold = 0;
296  p.rsm.diffThresh = 4.f;
297  p.rsm.removeThresh = 63;
298  p.rsm.rsmBypass = 0;
299  p.rsm.sloRauDiffThresh = 1.f;
300  p.rsvc.minEast = 1;
301  p.rsvc.minNorth = 1;
302  p.rsvc.minNSsum = 3;
303  p.rsvc.minSouth = 1;
304  p.rsvc.minWest = 1;
305  p.rsvc.minWEsum = 3;
306  p.rsvc.uShrink = 3;
307  p.rsvc.vShrink = 1;
308  p.color_control.disableRAUColor = 0;
309  p.color_control.disableSADColor = 0;
310  p.color_control.disableSADNormalize = 0;
311  p.color_control.disableSLOLeftColor = 0;
312  p.color_control.disableSLORightColor = 0;
313  p.rctc.rauDiffThresholdBlue = 51;
314  p.rctc.rauDiffThresholdGreen = 51;
315  p.rctc.rauDiffThresholdRed = 51;
316  p.sctc.diffThresholdBlue = 72;
317  p.sctc.diffThresholdGreen = 72;
318  p.sctc.diffThresholdRed = 72;
319  p.spc.sloK1Penalty = 60;
320  p.spc.sloK1PenaltyMod1 = 105;
321  p.spc.sloK1PenaltyMod2 = 70;
322  p.spc.sloK2Penalty = 342;
323  p.spc.sloK2PenaltyMod1 = 190;
324  p.spc.sloK2PenaltyMod2 = 130;
325  p.hdad.lambdaAD = 800.f;
326  p.hdad.lambdaCensus = 26.f;
327  p.cc.colorCorrection1 = 0.2989999949932f;
328  p.cc.colorCorrection2 = 0.2939999997616f;
329  p.cc.colorCorrection3 = 0.2939999997616f;
330  p.cc.colorCorrection4 = 0.1140000000596f;
331  p.cc.colorCorrection5 = 0.f;
332  p.cc.colorCorrection6 = 0.f;
333  p.cc.colorCorrection7 = 0.f;
334  p.cc.colorCorrection8 = 0.f;
335  p.cc.colorCorrection9 = 0.f;
336  p.cc.colorCorrection10 = 0.f;
337  p.cc.colorCorrection11 = 0.f;
338  p.cc.colorCorrection12 = 0.f;
339  p.depth_table.depthClampMax = 65536;
340  p.depth_table.depthClampMin = 0;
341  p.depth_table.depthUnits = 1000;
342  p.depth_table.disparityShift = 0;
343  p.ae.meanIntensitySetPoint = 1536;
344  p.census.uDiameter = 9;
345  p.census.vDiameter = 9;
346  p.laser_state.laser_state = 1;
347  p.laser_power.laser_power = 150.f;
348  p.depth_exposure.exposure = 8500.f;
349  p.depth_auto_exposure.auto_exposure = 1;
350  p.depth_gain.gain = 16.f;
351  }
352 
353  void high_res_high_accuracy(preset& p)
354  {
355  p.depth_controls.deepSeaMedianThreshold = 796;
356  p.depth_controls.deepSeaNeighborThreshold = 108;
357  p.depth_controls.deepSeaSecondPeakThreshold = 647;
358  p.depth_controls.lrAgreeThreshold = 10;
359  p.depth_controls.minusDecrement = 25;
360  p.depth_controls.plusIncrement = 2;
361  p.depth_controls.scoreThreshA = 4;
362  p.depth_controls.scoreThreshB = 2893;
363  p.depth_controls.textureCountThreshold = 0;
364  p.depth_controls.textureDifferenceThreshold = 1722;
365  p.rsm.diffThresh = 1.660570025444f;
366  p.rsm.removeThresh = 136;
367  p.rsm.rsmBypass = 0;
368  p.rsm.sloRauDiffThresh = 0.7269909977913f;
369  p.rsvc.minEast = 6;
370  p.rsvc.minNorth = 3;
371  p.rsvc.minNSsum = 7;
372  p.rsvc.minSouth = 2;
373  p.rsvc.minWest = 2;
374  p.rsvc.minWEsum = 12;
375  p.rsvc.uShrink = 3;
376  p.rsvc.vShrink = 0;
377  p.color_control.disableRAUColor = 0;
378  p.color_control.disableSADColor = 0;
379  p.color_control.disableSADNormalize = 0;
380  p.color_control.disableSLOLeftColor = 0;
381  p.color_control.disableSLORightColor = 1;
382  p.rctc.rauDiffThresholdBlue = 803;
383  p.rctc.rauDiffThresholdGreen = 578;
384  p.rctc.rauDiffThresholdRed = 1007;
385  p.sctc.diffThresholdBlue = 13;
386  p.sctc.diffThresholdGreen = 15;
387  p.sctc.diffThresholdRed = 30;
388  p.spc.sloK1Penalty = 155;
389  p.spc.sloK1PenaltyMod1 = 160;
390  p.spc.sloK1PenaltyMod2 = 59;
391  p.spc.sloK2Penalty = 190;
392  p.spc.sloK2PenaltyMod1 = 507;
393  p.spc.sloK2PenaltyMod2 = 493;
394  p.hdad.lambdaAD = 751.f;
395  p.hdad.lambdaCensus = 6.f;
396  }
397 
398  void high_res_high_density(preset& p)
399  {
400  p.depth_controls.deepSeaMedianThreshold = 789;
401  p.depth_controls.deepSeaNeighborThreshold = 12;
402  p.depth_controls.deepSeaSecondPeakThreshold = 222;
403  p.depth_controls.lrAgreeThreshold = 18;
404  p.depth_controls.minusDecrement = 6;
405  p.depth_controls.plusIncrement = 21;
406  p.depth_controls.scoreThreshA = 96;
407  p.depth_controls.scoreThreshB = 1443;
408  p.depth_controls.textureCountThreshold = 0;
409  p.depth_controls.textureDifferenceThreshold = 2466;
410  p.rsm.diffThresh = 1.228299975395f;
411  p.rsm.removeThresh = 82;
412  p.rsm.rsmBypass = 0;
413  p.rsm.sloRauDiffThresh = 0.2664879858494f;
414  p.rsvc.minEast = 2;
415  p.rsvc.minNorth = 1;
416  p.rsvc.minNSsum = 6;
417  p.rsvc.minSouth = 3;
418  p.rsvc.minWest = 3;
419  p.rsvc.minWEsum = 7;
420  p.rsvc.uShrink = 4;
421  p.rsvc.vShrink = 0;
422  p.color_control.disableRAUColor = 0;
423  p.color_control.disableSADColor = 0;
424  p.color_control.disableSADNormalize = 0;
425  p.color_control.disableSLOLeftColor = 0;
426  p.color_control.disableSLORightColor = 0;
427  p.rctc.rauDiffThresholdBlue = 112;
428  p.rctc.rauDiffThresholdGreen = 585;
429  p.rctc.rauDiffThresholdRed = 18;
430  p.sctc.diffThresholdBlue = 8;
431  p.sctc.diffThresholdGreen = 200;
432  p.sctc.diffThresholdRed = 279;
433  p.spc.sloK1Penalty = 55;
434  p.spc.sloK1PenaltyMod1 = 326;
435  p.spc.sloK1PenaltyMod2 = 134;
436  p.spc.sloK2Penalty = 235;
437  p.spc.sloK2PenaltyMod1 = 506;
438  p.spc.sloK2PenaltyMod2 = 206;
439  p.hdad.lambdaAD = 618.f;
440  p.hdad.lambdaCensus = 15.f;
441  }
442 
443  void high_res_mid_density(preset& p)
444  {
445  p.depth_controls.deepSeaMedianThreshold = 1021;
446  p.depth_controls.deepSeaNeighborThreshold = 97;
447  p.depth_controls.deepSeaSecondPeakThreshold = 600;
448  p.depth_controls.lrAgreeThreshold = 19;
449  p.depth_controls.minusDecrement = 23;
450  p.depth_controls.plusIncrement = 3;
451  p.depth_controls.scoreThreshA = 54;
452  p.depth_controls.scoreThreshB = 887;
453  p.depth_controls.textureCountThreshold = 0;
454  p.depth_controls.textureDifferenceThreshold = 0;
455  p.rsm.diffThresh = 1.816750049591f;
456  p.rsm.removeThresh = 81;
457  p.rsm.rsmBypass = 0;
458  p.rsm.sloRauDiffThresh = 1.f;
459  p.rsvc.minEast = 3;
460  p.rsvc.minNorth = 1;
461  p.rsvc.minNSsum = 6;
462  p.rsvc.minSouth = 3;
463  p.rsvc.minWest = 5;
464  p.rsvc.minWEsum = 11;
465  p.rsvc.uShrink = 3;
466  p.rsvc.vShrink = 1;
467  p.color_control.disableRAUColor = 0;
468  p.color_control.disableSADColor = 0;
469  p.color_control.disableSADNormalize = 0;
470  p.color_control.disableSLOLeftColor = 0;
471  p.color_control.disableSLORightColor = 1;
472  p.rctc.rauDiffThresholdBlue = 14;
473  p.rctc.rauDiffThresholdGreen = 723;
474  p.rctc.rauDiffThresholdRed = 186;
475  p.sctc.diffThresholdBlue = 16;
476  p.sctc.diffThresholdGreen = 259;
477  p.sctc.diffThresholdRed = 896;
478  p.spc.sloK1Penalty = 132;
479  p.spc.sloK1PenaltyMod1 = 77;
480  p.spc.sloK1PenaltyMod2 = 234;
481  p.spc.sloK2Penalty = 342;
482  p.spc.sloK2PenaltyMod1 = 390;
483  p.spc.sloK2PenaltyMod2 = 151;
484  p.hdad.lambdaAD = 935.f;
485  p.hdad.lambdaCensus = 26.f;
486  }
487 
488  void low_res_high_accuracy(preset& p)
489  {
490  p.depth_controls.deepSeaMedianThreshold = 871;
491  p.depth_controls.deepSeaNeighborThreshold = 113;
492  p.depth_controls.deepSeaSecondPeakThreshold = 310;
493  p.depth_controls.lrAgreeThreshold = 28;
494  p.depth_controls.minusDecrement = 1;
495  p.depth_controls.plusIncrement = 1;
496  p.depth_controls.scoreThreshA = 70;
497  p.depth_controls.scoreThreshB = 1890;
498  p.depth_controls.textureCountThreshold = 8;
499  p.depth_controls.textureDifferenceThreshold = 0;
500  p.rsm.diffThresh = 5.206029891968f;
501  p.rsm.removeThresh = 86;
502  p.rsm.rsmBypass = 0;
503  p.rsm.sloRauDiffThresh = 0.7110940217972f;
504  p.rsvc.minEast = 1;
505  p.rsvc.minNorth = 1;
506  p.rsvc.minNSsum = 5;
507  p.rsvc.minSouth = 3;
508  p.rsvc.minWest = 7;
509  p.rsvc.minWEsum = 7;
510  p.rsvc.uShrink = 4;
511  p.rsvc.vShrink = 0;
512  p.color_control.disableRAUColor = 0;
513  p.color_control.disableSADColor = 0;
514  p.color_control.disableSADNormalize = 0;
515  p.color_control.disableSLOLeftColor = 0;
516  p.color_control.disableSLORightColor = 0;
517  p.rctc.rauDiffThresholdBlue = 23;
518  p.rctc.rauDiffThresholdGreen = 297;
519  p.rctc.rauDiffThresholdRed = 95;
520  p.sctc.diffThresholdBlue = 72;
521  p.sctc.diffThresholdGreen = 72;
522  p.sctc.diffThresholdRed = 72;
523  p.spc.sloK1Penalty = 176;
524  p.spc.sloK1PenaltyMod1 = 196;
525  p.spc.sloK1PenaltyMod2 = 36;
526  p.spc.sloK2Penalty = 414;
527  p.spc.sloK2PenaltyMod1 = 96;
528  p.spc.sloK2PenaltyMod2 = 57;
529  p.hdad.lambdaAD = 74.f;
530  p.hdad.lambdaCensus = 26.f;
531  p.census.uDiameter = 8;
532  p.census.vDiameter = 9;
533  }
534 
535  void low_res_high_density(preset& p)
536  {
537  p.depth_controls.deepSeaMedianThreshold = 973;
538  p.depth_controls.deepSeaNeighborThreshold = 91;
539  p.depth_controls.deepSeaSecondPeakThreshold = 463;
540  p.depth_controls.lrAgreeThreshold = 20;
541  p.depth_controls.minusDecrement = 2;
542  p.depth_controls.plusIncrement = 18;
543  p.depth_controls.scoreThreshA = 90;
544  p.depth_controls.scoreThreshB = 3440;
545  p.depth_controls.textureCountThreshold = 0;
546  p.depth_controls.textureDifferenceThreshold = 3639;
547  p.rsm.diffThresh = 5.890840053558f;
548  p.rsm.removeThresh = 68;
549  p.rsm.rsmBypass = 0;
550  p.rsm.sloRauDiffThresh = 0.421687990427f;
551  p.rsvc.minEast = 1;
552  p.rsvc.minNorth = 1;
553  p.rsvc.minNSsum = 5;
554  p.rsvc.minSouth = 2;
555  p.rsvc.minWest = 6;
556  p.rsvc.minWEsum = 4;
557  p.rsvc.uShrink = 4;
558  p.rsvc.vShrink = 1;
559  p.color_control.disableRAUColor = 0;
560  p.color_control.disableSADColor = 0;
561  p.color_control.disableSADNormalize = 0;
562  p.color_control.disableSLOLeftColor = 1;
563  p.color_control.disableSLORightColor = 0;
564  p.rctc.rauDiffThresholdBlue = 300;
565  p.rctc.rauDiffThresholdGreen = 12;
566  p.rctc.rauDiffThresholdRed = 60;
567  p.sctc.diffThresholdBlue = 105;
568  p.sctc.diffThresholdGreen = 60;
569  p.sctc.diffThresholdRed = 64;
570  p.spc.sloK1Penalty = 170;
571  p.spc.sloK1PenaltyMod1 = 67;
572  p.spc.sloK1PenaltyMod2 = 59;
573  p.spc.sloK2Penalty = 386;
574  p.spc.sloK2PenaltyMod1 = 86;
575  p.spc.sloK2PenaltyMod2 = 60;
576  p.hdad.lambdaAD = 686.f;
577  p.hdad.lambdaCensus = 26.f;
578  p.census.uDiameter = 9;
579  p.census.vDiameter = 9;
580  }
581 
582  void low_res_mid_density(preset& p)
583  {
584  p.depth_controls.deepSeaMedianThreshold = 696;
585  p.depth_controls.deepSeaNeighborThreshold = 43;
586  p.depth_controls.deepSeaSecondPeakThreshold = 476;
587  p.depth_controls.lrAgreeThreshold = 30;
588  p.depth_controls.minusDecrement = 9;
589  p.depth_controls.plusIncrement = 16;
590  p.depth_controls.scoreThreshA = 43;
591  p.depth_controls.scoreThreshB = 1885;
592  p.depth_controls.textureCountThreshold = 0;
593  p.depth_controls.textureDifferenceThreshold = 2817;
594  p.rsm.diffThresh = 6.447229862213f;
595  p.rsm.removeThresh = 95;
596  p.rsm.rsmBypass = 0;
597  p.rsm.sloRauDiffThresh = 0.2744660079479f;
598  p.rsvc.minEast = 6;
599  p.rsvc.minNorth = 1;
600  p.rsvc.minNSsum = 2;
601  p.rsvc.minSouth = 3;
602  p.rsvc.minWest = 7;
603  p.rsvc.minWEsum = 7;
604  p.rsvc.uShrink = 4;
605  p.rsvc.vShrink = 1;
606  p.color_control.disableRAUColor = 0;
607  p.color_control.disableSADColor = 0;
608  p.color_control.disableSADNormalize = 0;
609  p.color_control.disableSLOLeftColor = 0;
610  p.color_control.disableSLORightColor = 0;
611  p.rctc.rauDiffThresholdBlue = 51;
612  p.rctc.rauDiffThresholdGreen = 31;
613  p.rctc.rauDiffThresholdRed = 424;
614  p.sctc.diffThresholdBlue = 69;
615  p.sctc.diffThresholdGreen = 72;
616  p.sctc.diffThresholdRed = 124;
617  p.spc.sloK1Penalty = 117;
618  p.spc.sloK1PenaltyMod1 = 33;
619  p.spc.sloK1PenaltyMod2 = 64;
620  p.spc.sloK2Penalty = 410;
621  p.spc.sloK2PenaltyMod1 = 80;
622  p.spc.sloK2PenaltyMod2 = 74;
623  p.hdad.lambdaAD = 183.f;
624  p.hdad.lambdaCensus = 26.f;
625  p.census.uDiameter = 9;
626  p.census.vDiameter = 9;
627  }
628 
629  void mid_res_high_accuracy(preset& p)
630  {
631  p.depth_controls.deepSeaMedianThreshold = 347;
632  p.depth_controls.deepSeaNeighborThreshold = 82;
633  p.depth_controls.deepSeaSecondPeakThreshold = 205;
634  p.depth_controls.lrAgreeThreshold = 18;
635  p.depth_controls.minusDecrement = 15;
636  p.depth_controls.plusIncrement = 5;
637  p.depth_controls.scoreThreshA = 80;
638  p.depth_controls.scoreThreshB = 2047;
639  p.depth_controls.textureCountThreshold = 0;
640  p.depth_controls.textureDifferenceThreshold = 3474;
641  p.rsm.diffThresh = 3.329339981079f;
642  p.rsm.removeThresh = 112;
643  p.rsm.rsmBypass = 0;
644  p.rsm.sloRauDiffThresh = 0.9618660211563f;
645  p.rsvc.minEast = 3;
646  p.rsvc.minNorth = 1;
647  p.rsvc.minNSsum = 6;
648  p.rsvc.minSouth = 2;
649  p.rsvc.minWest = 2;
650  p.rsvc.minWEsum = 3;
651  p.rsvc.uShrink = 4;
652  p.rsvc.vShrink = 1;
653  p.color_control.disableRAUColor = 0;
654  p.color_control.disableSADColor = 0;
655  p.color_control.disableSADNormalize = 0;
656  p.color_control.disableSLOLeftColor = 0;
657  p.color_control.disableSLORightColor = 0;
658  p.rctc.rauDiffThresholdBlue = 26;
659  p.rctc.rauDiffThresholdGreen = 975;
660  p.rctc.rauDiffThresholdRed = 29;
661  p.sctc.diffThresholdBlue = 442;
662  p.sctc.diffThresholdGreen = 16;
663  p.sctc.diffThresholdRed = 770;
664  p.spc.sloK1Penalty = 21;
665  p.spc.sloK1PenaltyMod1 = 3;
666  p.spc.sloK1PenaltyMod2 = 27;
667  p.spc.sloK2Penalty = 182;
668  p.spc.sloK2PenaltyMod1 = 41;
669  p.spc.sloK2PenaltyMod2 = 63;
670  p.hdad.lambdaAD = 630.f;
671  p.hdad.lambdaCensus = 26.f;
672  p.census.uDiameter = 6;
673  p.census.vDiameter = 7;
674  }
675 
676  void mid_res_high_density(preset& p)
677  {
678  p.depth_controls.deepSeaMedianThreshold = 276;
679  p.depth_controls.deepSeaNeighborThreshold = 4;
680  p.depth_controls.deepSeaSecondPeakThreshold = 6;
681  p.depth_controls.lrAgreeThreshold = 32;
682  p.depth_controls.minusDecrement = 1;
683  p.depth_controls.plusIncrement = 4;
684  p.depth_controls.scoreThreshA = 68;
685  p.depth_controls.scoreThreshB = 1949;
686  p.depth_controls.textureCountThreshold = 1;
687  p.depth_controls.textureDifferenceThreshold = 0;
688  p.rsm.diffThresh = 5.069789886475f;
689  p.rsm.removeThresh = 75;
690  p.rsm.rsmBypass = 0;
691  p.rsm.sloRauDiffThresh = 1.f;
692  p.rsvc.minEast = 7;
693  p.rsvc.minNorth = 1;
694  p.rsvc.minNSsum = 6;
695  p.rsvc.minSouth = 3;
696  p.rsvc.minWest = 6;
697  p.rsvc.minWEsum = 14;
698  p.rsvc.uShrink = 4;
699  p.rsvc.vShrink = 1;
700  p.color_control.disableRAUColor = 0;
701  p.color_control.disableSADColor = 0;
702  p.color_control.disableSADNormalize = 0;
703  p.color_control.disableSLOLeftColor = 1;
704  p.color_control.disableSLORightColor = 0;
705  p.rctc.rauDiffThresholdBlue = 11;
706  p.rctc.rauDiffThresholdGreen = 660;
707  p.rctc.rauDiffThresholdRed = 17;
708  p.sctc.diffThresholdBlue = 4;
709  p.sctc.diffThresholdGreen = 542;
710  p.sctc.diffThresholdRed = 982;
711  p.spc.sloK1Penalty = 479;
712  p.spc.sloK1PenaltyMod1 = 4;
713  p.spc.sloK1PenaltyMod2 = 25;
714  p.spc.sloK2Penalty = 342;
715  p.spc.sloK2PenaltyMod1 = 69;
716  p.spc.sloK2PenaltyMod2 = 225;
717  p.hdad.lambdaAD = 850.f;
718  p.hdad.lambdaCensus = 19.f;
719  p.census.uDiameter = 9;
720  p.census.vDiameter = 3;
721  }
722 
723  void mid_res_mid_density(preset& p)
724  {
725  p.depth_controls.deepSeaMedianThreshold = 175;
726  p.depth_controls.deepSeaNeighborThreshold = 1;
727  p.depth_controls.deepSeaSecondPeakThreshold = 3;
728  p.depth_controls.lrAgreeThreshold = 32;
729  p.depth_controls.minusDecrement = 14;
730  p.depth_controls.plusIncrement = 22;
731  p.depth_controls.scoreThreshA = 3;
732  p.depth_controls.scoreThreshB = 972;
733  p.depth_controls.textureCountThreshold = 6;
734  p.depth_controls.textureDifferenceThreshold = 0;
735  p.rsm.diffThresh = 5.859620094299f;
736  p.rsm.removeThresh = 70;
737  p.rsm.rsmBypass = 0;
738  p.rsm.sloRauDiffThresh = 1.f;
739  p.rsvc.minEast = 3;
740  p.rsvc.minNorth = 1;
741  p.rsvc.minNSsum = 6;
742  p.rsvc.minSouth = 2;
743  p.rsvc.minWest = 1;
744  p.rsvc.minWEsum = 5;
745  p.rsvc.uShrink = 4;
746  p.rsvc.vShrink = 1;
747  p.color_control.disableRAUColor = 0;
748  p.color_control.disableSADColor = 0;
749  p.color_control.disableSADNormalize = 0;
750  p.color_control.disableSLOLeftColor = 1;
751  p.color_control.disableSLORightColor = 0;
752  p.rctc.rauDiffThresholdBlue = 692;
753  p.rctc.rauDiffThresholdGreen = 12;
754  p.rctc.rauDiffThresholdRed = 80;
755  p.sctc.diffThresholdBlue = 18;
756  p.sctc.diffThresholdGreen = 493;
757  p.sctc.diffThresholdRed = 390;
758  p.spc.sloK1Penalty = 134;
759  p.spc.sloK1PenaltyMod1 = 10;
760  p.spc.sloK1PenaltyMod2 = 70;
761  p.spc.sloK2Penalty = 397;
762  p.spc.sloK2PenaltyMod1 = 21;
763  p.spc.sloK2PenaltyMod2 = 226;
764  p.hdad.lambdaAD = 978.f;
765  p.hdad.lambdaCensus = 21.f;
766  p.census.uDiameter = 8;
767  p.census.vDiameter = 5;
768  }
769 
770  void hand_gesture(preset& p)
771  {
772  p.depth_controls.deepSeaMedianThreshold = 240;
773  p.depth_controls.deepSeaNeighborThreshold = 110;
774  p.depth_controls.deepSeaSecondPeakThreshold = 31;
775  p.depth_controls.lrAgreeThreshold = 20;
776  p.depth_controls.minusDecrement = 20;
777  p.depth_controls.plusIncrement = 3;
778  p.depth_controls.scoreThreshA = 24;
779  p.depth_controls.scoreThreshB = 791;
780  p.depth_controls.textureCountThreshold = 0;
781  p.depth_controls.textureDifferenceThreshold = 783;
782  p.rsm.diffThresh = 3.8125f;
783  p.rsm.removeThresh = 92;
784  p.rsm.rsmBypass = 0;
785  p.rsm.sloRauDiffThresh = 0.46875f;
786  p.rsvc.minEast = 3;
787  p.rsvc.minNorth = 1;
788  p.rsvc.minNSsum = 4;
789  p.rsvc.minSouth = 3;
790  p.rsvc.minWest = 1;
791  p.rsvc.minWEsum = 14;
792  p.rsvc.uShrink = 3;
793  p.rsvc.vShrink = 1;
794  p.color_control.disableRAUColor = 0;
795  p.color_control.disableSADColor = 0;
796  p.color_control.disableSADNormalize = 0;
797  p.color_control.disableSLOLeftColor = 0;
798  p.color_control.disableSLORightColor = 1;
799  p.rctc.rauDiffThresholdBlue = 50;
800  p.rctc.rauDiffThresholdGreen = 73;
801  p.rctc.rauDiffThresholdRed = 141;
802  p.sctc.diffThresholdBlue = 130;
803  p.sctc.diffThresholdGreen = 244;
804  p.sctc.diffThresholdRed = 618;
805  p.spc.sloK1Penalty = 63;
806  p.spc.sloK1PenaltyMod1 = 14;
807  p.spc.sloK1PenaltyMod2 = 119;
808  p.spc.sloK2Penalty = 45;
809  p.spc.sloK2PenaltyMod1 = 21;
810  p.spc.sloK2PenaltyMod2 = 12;
811  p.hdad.ignoreSAD = 0;
812  p.hdad.lambdaAD = 1001.f;
813  p.hdad.lambdaCensus = 7.f;
814  p.depth_table.depthClampMax = 65535;
815  p.depth_table.depthClampMin = 0;
816  p.depth_table.depthUnits = 1000;
817  p.depth_table.disparityMode = 0;
818  p.depth_table.disparityShift = 0;
819  p.census.uDiameter = 9;
820  p.census.vDiameter = 3;
821  }
822 
823  void d415_remove_ir(preset& p)
824  {
825  p.cc.colorCorrection1 = 0.5205079913139f;
826  p.cc.colorCorrection2 = 1.990234017372f;
827  p.cc.colorCorrection3 = 1.506836056709f;
828  p.cc.colorCorrection4 = -2.f;
829  p.cc.colorCorrection5 = -2.f;
830  p.cc.colorCorrection6 = -0.08203099668026f;
831  p.cc.colorCorrection7 = 1.123046994209f;
832  p.cc.colorCorrection8 = 1.013671994209f;
833  p.cc.colorCorrection9 = 1.698241949081f;
834  p.cc.colorCorrection10 = -2.f;
835  p.cc.colorCorrection11 = 0.5751950144768f;
836  p.cc.colorCorrection12 = -0.4111329913139f;
837  }
838 
839  void d460_remove_ir(preset& p)
840  {
841  p.cc.colorCorrection1 = 1.917968988419f;
842  p.cc.colorCorrection2 = 1.990234017372f;
843  p.cc.colorCorrection3 = -2.f;
844  p.cc.colorCorrection4 = -2.f;
845  p.cc.colorCorrection5 = -1.041015982628f;
846  p.cc.colorCorrection6 = 0.0546870008111f;
847  p.cc.colorCorrection7 = -0.21875f;
848  p.cc.colorCorrection8 = 0.9042969942093f;
849  p.cc.colorCorrection9 = 0.9042969942093f;
850  p.cc.colorCorrection10 = -0.5478519797325f;
851  p.cc.colorCorrection11 = -0.1367190033197f;
852  p.cc.colorCorrection12 = -0.1914059966803f;
853  }
854 }
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Definition: presets.cpp:8
librealsense::d460_remove_ir
void d460_remove_ir(preset &p)
Definition: presets.cpp:839
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Definition: presets.cpp:284
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Definition: presets.h:23
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Definition: presets.h:103
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Definition: presets.h:114
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Definition: presets.cpp:353
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Definition: presets.h:105
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Definition: presets.h:100
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STCensusRadius census
Definition: presets.h:111
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Definition: presets.h:110
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Definition: presets.cpp:676
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Definition: presets.h:29
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Definition: presets.h:117
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Definition: presets.cpp:770
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Definition: presets.cpp:582
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Definition: presets.h:113
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Definition: presets.cpp:823
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Definition: presets.cpp:535
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Definition: presets.h:11
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Definition: presets.h:116
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Definition: presets.h:106
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Definition: rs_advanced_mode_command.h:33
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Definition: presets.h:102
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Definition: presets.cpp:146
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Definition: presets.h:35
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Definition: presets.h:17
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Definition: presets.h:109
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Definition: presets.cpp:629
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Definition: presets.cpp:216
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Definition: presets.h:115
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Definition: presets.h:108
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Definition: presets.h:104

librealsense2
Author(s): Sergey Dorodnicov , Doron Hirshberg , Mark Horn , Reagan Lopez , Itay Carpis
autogenerated on Mon May 3 2021 02:47:39